CN113001564B

CN113001564B - Automatic liquid distribution system and method based on industrial robot

Info

Publication number: CN113001564B
Application number: CN202110267906.XA
Authority: CN
Inventors: 鲁涛; 曹学为; 程道一; 刘东祯
Original assignee: Tianjin Intelligent Tech Institute Of Casia Co ltd; Zhongke Smart Medical Technology Development Nanjing Co ltd; Institute of Automation of Chinese Academy of Science
Current assignee: Zhongke Smart Medical Technology Development Nanjing Co ltd; Institute of Automation of Chinese Academy of Science
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2021-12-21
Anticipated expiration: 2041-03-11
Also published as: CN113001564A

Abstract

The invention belongs to the technical field of medical equipment, in particular to an automatic liquid distribution system and method based on an industrial robot, aiming at solving the problems of low automation degree and poor precision of the existing liquid distribution system, wherein the system comprises a sensing unit, a storage unit, a processing unit, a PLC control unit, a six-axis manipulator unit, a shaking platform unit and a clamping jaw unit arranged at the end part of the six-axis manipulator unit, and the six-axis manipulator unit drives the clamping jaw unit to extract liquid in a liquid bag; the sensing unit is used for detecting the type of the penicillin bottle and transmitting information to the processing unit; the processing unit is matched with a preset instruction in the storage unit based on the acquired information, and the PLC control unit issues an instruction whether to start the six-axis manipulator unit for liquid extraction or liquid distribution and an instruction whether to start the shaking platform unit based on the matching information acquired by the processing unit; the automatic and accurate liquid preparation of the penicillin bottle can be realized, the manual participation is effectively reduced, and the working efficiency is improved.

Description

Automatic liquid distribution system and method based on industrial robot

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to an automatic liquid distribution system and method based on an industrial robot.

Background

In recent years, with the development of technology, a liquid dispensing robot based on a mechanical arm has appeared in some hospitals, but the existing control method and system of the liquid dispensing robot cannot give consideration to both precision and efficiency, if the requirement on precision is strict, the working efficiency is seriously reduced, if the efficiency is improved, the precision is greatly reduced, the automation degree is low, and the number of manual participation processes is large.

At present, the intravenous medicine allocation mode of the hospital is mainly manual operation of medical care personnel, and because the intravenous medicine requirements of departments of the hospital are large, the manual operation not only occupies a large amount of manpower and material resources of the hospital, but also increases the risks of damaging the health of nursing personnel and polluting liquid medicine. With the development of the robot technology, the intravenous drug dispensing robot gradually appears in the market, the equipment structure in the prior art is complex, the dispensing process only aims at the oncology department, and the common department of a hospital is large in size, high in price and not beneficial to use. In addition, the robot that is used for the supplementary manual work of hospital to join in marriage liquid that discloses among the prior art, the task volume of joining in marriage liquid every day is very big, its clamping device need constantly loosen the action with pressing from both sides tight to the medicine bottle, current clamping device adopts running gear and damping spring to accomplish the unclamping and pressing from both sides tight to the medicine bottle mostly, but the external diameter of a large amount of medicine bottles of centre gripping is different in reality, to the not unidimensional medicine bottle of treating centre gripping, gear revolve often can appear and loosen too much or loosen not in place, form the problem that tooth punching and medicine bottle can't be placed in place, and simultaneously, to the medicine bottle of equidimension, the unable accurate control of the tight effect of clamp of gear, easily press from both sides the medicine bottle and hinder even press from both sides the explosion.

Disclosure of Invention

In order to solve the problems, namely to solve the problems of low automation degree and poor precision of the existing automatic liquid preparation system, the invention provides an automatic liquid preparation system and method based on an industrial robot.

The invention provides an automatic liquid distribution system based on an industrial robot, which comprises a sensing unit, a storage unit, a processing unit, a PLC (programmable logic controller) control unit, a six-axis manipulator unit, a shaking platform unit and a clamping jaw unit, wherein the sensing unit is in communication connection with the processing unit; the storage unit, the processing unit, the six-axis manipulator unit and the shaking platform unit are all in communication connection with the PLC control unit; the clamping jaw unit is arranged at the end part of the six-axis manipulator unit, and the six-axis manipulator unit extracts liquid in the corresponding liquid bag based on the injector clamped by the clamping jaw unit;

the sensing unit is used for detecting the type of the penicillin bottle and transmitting detection information to the processing unit; the processing unit is matched with a preset instruction in the storage unit based on the acquired information, and the PLC control unit issues an instruction whether to start the six-axis manipulator unit for liquid extraction or liquid distribution and an instruction whether to start the shaking platform unit based on the matching information acquired by the processing unit.

In some preferred embodiments, the shaking platform unit comprises a horizontal rotation mechanism, a turnover mechanism and a master control device, and the horizontal rotation mechanism and the turnover mechanism are both in communication connection with the master control device;

the horizontal rotation mechanism comprises a horizontal rotation driving device, a transmission device and a rotary table, and the transmission device is arranged at the power output end of the horizontal rotation driving device; the rotary table is fixedly connected with the power output end of the transmission device; a flat rotating motor cover is arranged at the bottom of the rotary table, and the flat rotating driving device is arranged inside the flat rotating motor cover; a horizontal rotation limiting device is further arranged inside the horizontal rotation motor cover and is in signal connection with the master control device; in a flat rotation state, the turntable is driven by the flat rotation driving device to turn over in a first plane; the master control device controls the switch of the horizontal rotation driving device based on the detection information of the horizontal rotation limiting device;

the turnover mechanism comprises a turnover driving device and a connecting device, one end of the connecting device is fixedly connected with the power output end of the turnover driving device, and the other end of the connecting device is fixedly arranged on the side part of the flat-rotating motor cover; the side wall of the overturning driving device is provided with an overturning limiting device, and the overturning limiting device is in signal connection with the master control device; in a turning state, the flat rotating mechanism is driven by the turning driving device to turn in a second plane; the master control device controls the turning driving device to be turned on or off based on the detection information of the turning limiting device; the second plane is perpendicular to the first plane.

In some preferred embodiments, the transmission device comprises a flat rotation main gear and a flat rotation transmission gear, the flat rotation transmission gear is fixedly arranged at the power output end of the flat rotation driving device, and the flat rotation main gear is in external meshing transmission with the flat rotation transmission gear; a guide ring fixing frame is arranged in the flat rotating main gear in a penetrating manner, one end of the guide ring fixing frame is fixedly connected with the turntable, and the other end of the guide ring fixing frame is arranged in a separated manner from a conducting ring arranged on the flat rotating motor cover;

a horizontal rotation inner frame is fixedly arranged in the horizontal rotation motor cover and comprises a first supporting structure and a second supporting structure, the first supporting structure is used for bearing the guide ring fixing frame, and the second supporting structure is used for bearing the horizontal rotation transmission gear; the first support structure and the second support structure form a flat S-shaped structure, the opening of the first support structure is upward, and the opening of the second support structure is downward; the outer side of the guide ring fixing frame is sleeved with a horizontal rotation bearing assembly and a horizontal rotation bearing lock catch, and the horizontal rotation bearing assembly is tightly abutted to the horizontal rotation main gear through the horizontal rotation bearing lock catch;

and one end of the flat-rotating bearing lock catch, which is far away from the flat-rotating bearing assembly, is fixedly connected with the guide ring fixing frame.

In some preferred embodiments, the connecting means comprises a flip connecting frame and a flip bearing cap; the overturning driving device comprises an overturning motor and an overturning motor seat;

one end of the overturning connecting frame is fixedly connected with the side wall of the flat rotating motor cover, and the other end of the overturning connecting frame is fixedly connected with the overturning bearing cover;

one end of the turnover bearing cover is fixedly connected with the power output end of the turnover motor, and the other end of the turnover bearing cover is sleeved outside the turnover connecting frame;

the turnover motor base comprises an accommodating part and a connecting part, and the accommodating part is used for installing the turnover motor; the connecting part is fixedly arranged on the outer side of the accommodating part, and the overturning bearing cover and the overturning connecting frame are arranged in the connecting part; the connecting part is respectively connected with the turnover bearing cover in a rotatable mode through a first turnover bearing and a second turnover bearing.

In some preferred embodiments, the overturning limiting device is fixedly arranged at the outer side of the connecting part;

the side wall of the flat rotating motor cover is provided with an overturning limiting piece;

in the process of starting the turnover driving device, the turnover limiting piece is turned over along with the flat rotation mechanism, and the turnover limiting device is fixed;

the distance from the central axis of the turnover limiting piece to the longitudinal axis of the turnover motor is equal to the distance from the central axis of the turnover limiting device to the longitudinal axis of the turnover motor;

the distance from the outer end of the overturning limiting piece to the longitudinal axis of the flat rotation driving device is larger than the distance from the top of the groove of the overturning limiting device to the longitudinal axis of the flat rotation driving device.

In some preferred embodiments, the jaw unit comprises a connection arrangement, a jaw assembly and a drive arrangement; the connecting device is used for being fixedly connected with the six-axis manipulator unit;

the clamping jaw assembly comprises a first clamping jaw assembly and a second clamping jaw assembly, and the first clamping jaw assembly and the second clamping jaw assembly are respectively used for clamping a syringe cap and a syringe tube; the first clamping jaw assembly comprises a first clamping jaw, a syringe cap clamp and a lifting slide block connecting plate, and the lifting slide block connecting plate is fixedly arranged at the power output end of the driving device; the first clamping jaw is arranged on the lifting slide block connecting plate; the syringe cap clamp is arranged at one end of the first clamping jaw, which is far away from the lifting slide block connecting plate;

the second clamping jaw assembly comprises a second clamping jaw, an injector tube body clamp and a clamping jaw connecting plate, and the clamping jaw connecting plate is fixedly arranged on the driving device; the second clamping jaw is arranged on the clamping jaw connecting plate; the syringe tube body is clamped at one end of the second clamping jaw, which is far away from the clamping jaw connecting plate; the driving device is used for controlling the drawing of the syringe;

in the working process, the syringe tube body is clamped and fixed through the second clamping jaw assembly, and the first clamping jaw assembly is driven by the driving device to ascend so as to drive the syringe cap to draw and suck liquid.

In some preferred embodiments, the lifting slider connecting plate comprises a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate form an L-shaped plate-shaped structure; the first connecting plate is provided with a first mounting part connected with a power output end of the driving device; the second connecting plate is provided with a second mounting part connected with the driving device.

In some preferred embodiments, the syringe cap holder comprises a first lifting device and a second lifting device, the first lifting device and the second lifting device being arranged in parallel to form a holding device for lifting a syringe cap; the first clamping jaw is a first electric clamping jaw; the first lifting device and the second lifting device can move away from or close to each other relatively under the driving of the first electric clamping jaw so as to loosen or clamp the target object;

the first lifting device comprises a first connecting part and a first lifting part, and the first connecting part and the first lifting part form an L-shaped structure; the first connecting part is provided with a third mounting part fixedly connected with the first clamping jaw;

the second lifting device comprises a second connecting part and a second lifting part, and the second connecting part and the second lifting part form an L-shaped structure; the second connecting part is provided with a fourth mounting part fixedly connected with the first clamping jaw;

the second lift portion with first lift portion parallel arrangement, first lift portion with distance between the second lift portion is greater than the external diameter of syringe piston rod, just first lift portion with distance between the second lift portion is less than the external diameter of syringe cap.

In some preferred embodiments, the syringe barrel clamp comprises a first clamping device and a second clamping device, the first clamping device being arranged in parallel with the second clamping device for clamping a syringe barrel; the second clamping jaw is a second electric clamping jaw; the first clamping device and the second clamping device can move away from or close to each other relatively under the driving of the second clamping jaw to loosen or clamp the target object;

the first clamping device comprises a first clamping connecting part and a first clamping action part, and the first clamping connecting part is provided with a fifth mounting part fixedly connected with the first clamping jaw; a first arc-shaped action surface matched with the syringe tube body is arranged on the inner side of the first clamping action part;

the second clamping device comprises a second clamping connecting part and a second clamping action part, and the second clamping connecting part is provided with a sixth mounting part fixedly connected with the second clamping jaw; a second arc-shaped action surface matched with the syringe tube body is arranged on the inner side of the second clamping action part, and the second arc-shaped action surface is opposite to the first arc-shaped action surface; the first arc-shaped acting surface and the second arc-shaped acting surface are both in a concave arc shape.

A second aspect of the present invention provides an industrial robot based automatic liquid dispensing method, which is based on any one of the above mentioned automatic liquid dispensing systems, comprising the following steps:

s100, the PLC control unit acquires liquid preparation parameters based on the type information of the penicillin bottle detected by the sensing unit;

step S200, controlling the clamping jaw unit to move to a set position below a solvent bag to insert into the solvent bag and controlling the clamping jaw unit to pull down a syringe piston to obtain liquid by the six-axis manipulator unit based on an instruction sent by the PLC control unit;

step S300, the PLC control unit judges whether liquid pumping is finished or not based on the motion information of the clamping jaw unit; when liquid pumping is finished, the six-axis manipulator unit drives the injector to a specified position above the penicillin bottle based on a control instruction of the PLC control unit; the PLC control unit judges whether the injector moves to an appointed position or not based on the movement pose of the six-axis manipulator unit and pose information of a penicillin bottle arranged on the shaking platform unit; if not, the posture of the six-axis manipulator unit is adjusted until the injector in the clamping jaw unit is positioned at a set position;

step S400, the clamping jaw unit completes the action of pricking the needle tip into the penicillin bottle based on the control instruction of the PLC control unit, completes the pressing action of the needle tube piston, and injects a specified amount of solvent into the penicillin bottle;

step S500, the six-axis manipulator unit controls and finishes the action of moving the needle tip out of the penicillin bottle;

step S600, circularly executing the step 200 to the step S500 to finish the injection operation of the solvent in each penicillin bottle;

step S700, the shaking platform unit shakes the medicines based on the control instruction of the PLC control unit;

and step S800, after the shaking platform unit finishes shaking the medicine, the shaking platform unit stops, and the PLC control unit controls the six-axis manipulator unit to reinject the liquid medicine for dissolving the powder into the solvent bag through the clamping jaw unit so as to finish automatic liquid preparation of the penicillin bottle.

1) The invention discloses an automatic liquid preparation system based on an industrial robot, which takes a PLC control unit as a core and connects all working procedures of liquid preparation of penicillin bottles in series to finish the distribution of working procedure time slices; the control unit comprehensively dispatches the six-axis manipulator unit, the processing unit and the shaking platform unit to automatically complete the whole liquid preparation process; the processing unit completes the processes of man-machine operation, code scanning operation and visual calculation and assists in completing the liquid preparation process; the six-axis manipulator unit is mainly used for precise carrying operation; in the whole process, in the partial operation of the PLC control unit, the six-axis manipulator unit performs subsequent operation in parallel, and interaction is performed in a mode of mixing state access and command words, so that the liquid preparation efficiency can be effectively improved. Meanwhile, the clamping jaw unit designed by the invention provides a human-simulated needle tube drawing mode, on the basis of general consumables, the manual suction of liquid medicine is simulated, and the pressure balance is kept through an additional inflation mode; the universal consumables are adopted, so that the use pressure of medium and small hospitals can be effectively relieved; the system accurately and reliably completes the automatic liquid preparation process of the penicillin bottle, the working mode meets the relevant industrial standards, and excessive manual participation in the traditional liquid preparation process of the penicillin bottle is effectively reduced.

2) By the clamping jaw device, cylindrical articles such as syringes can be accurately clamped, the clamping precision is ensured, and the clamping is tight and positive; simultaneously, through the matching arrangement of the first clamping jaw assembly and the driving device, the drawing liquid suction of the high-precision injector can be ensured, the structure is simple, the practicability is high, and the application range is wide.

3) The shaking platform unit provided by the invention can drive the penicillin bottle to realize horizontal rotation movement and turnover movement, and/or intermittent combined movement of horizontal rotation and turnover, or synchronous movement to finish the work of shaking the articles uniformly, thereby realizing the operation of shaking the penicillin bottle uniformly.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a block diagram of one embodiment of an industrial robot-based automated fluid dispensing system of the present invention;

FIG. 2 is a schematic perspective view of an embodiment of a shake-up table unit in the automatic liquid distribution system based on an industrial robot according to the present invention;

FIG. 3 is a schematic cross-sectional view of FIG. 2;

FIG. 4 is a schematic perspective view of an embodiment of the internal frame of FIG. 2;

FIG. 5 is a schematic perspective view of one embodiment of a gripper unit in an industrial robot-based automatic fluid dispensing system of the present invention;

FIG. 6 is a schematic flow chart diagram of one embodiment of an industrial robot-based automated liquid dispensing method of the present invention;

fig. 7 is a schematic coordinate system diagram of another automatic liquid distribution method based on an industrial robot in the invention.

The description of the reference numbers follows in order:

100. the horizontal rotation mechanism 110, the horizontal rotation driving device 121, the horizontal rotation transmission gear 122, the horizontal rotation main gear 123, the guide ring fixing frame 124 and the horizontal rotation bearing lock catch; 130. the horizontal rotation limiting device comprises a horizontal rotation limiting device 140, a horizontal rotation motor cover 150, a horizontal rotation inner frame 160, a connecting shaft 170, a horizontal rotation limiting sheet 180 and a conducting ring; 200. the overturning mechanism comprises an overturning structure 210, an overturning motor 220, an overturning motor seat 221, an accommodating part 222 and a connecting part; 231. the overturning device comprises an overturning connecting frame 232, an overturning bearing cover 240, an overturning limiting device 250 and an overturning limiting sheet; 300. a turntable;

410. a first jaw; 420. a syringe cap clip 421, a first lifting device 422 and a second lifting device; 430. a lifting slide block connecting plate 431, a first connecting plate 432 and a second connecting plate; 440. a second jaw; 450. a syringe body clamp 451, a first clamping device 452, a second clamping device; 460. a clamping jaw connecting plate; 500. a servo electric cylinder; 600. and (4) a connecting device.

Detailed Description

In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

The invention provides an automatic liquid distribution system based on an industrial robot, which comprises a sensing unit, a storage unit, a processing unit, a PLC (programmable logic controller) control unit, a six-axis manipulator unit, a shaking platform unit and a clamping jaw unit, wherein the sensing unit is in communication connection with the processing unit; the storage unit, the processing unit, the six-axis manipulator unit and the shaking platform unit are all in communication connection with the PLC control unit; the clamping jaw unit is arranged at the end part of the six-axis manipulator unit, and the six-axis manipulator unit extracts liquid in the corresponding liquid bag based on the injector clamped by the clamping jaw unit; the sensing unit is used for detecting the type of the penicillin bottle and transmitting detection information to the processing unit; the processing unit is matched with a preset instruction in the storage unit based on the acquired information, and the PLC control unit issues an instruction whether to start the six-axis manipulator unit for liquid extraction or liquid distribution and an instruction whether to start the shaking platform unit based on the matching information acquired by the processing unit. The system takes a PLC control unit as a core, and all working procedures of penicillin bottle liquid preparation are connected in series to finish the distribution of working procedure time slices; the control unit comprehensively dispatches the six-axis manipulator unit, the processing unit and the shaking platform unit to automatically complete the whole liquid preparation process; the processing unit completes the processes of man-machine operation, code scanning operation and visual calculation and assists in completing the liquid preparation process; the six-axis manipulator unit is mainly used for precise carrying operation; in the whole process, in the partial operation of the PLC control unit, the six-axis manipulator unit performs subsequent operation in parallel, and interaction is performed in a mode of mixing state access and command words, so that the liquid preparation efficiency can be effectively improved. Meanwhile, the clamping jaw unit designed by the invention provides a human-simulated needle tube drawing mode, on the basis of general consumables, the manual suction of liquid medicine is simulated, and the pressure balance is kept through an additional inflation mode; the universal consumables are adopted, so that the use pressure of medium and small hospitals can be effectively relieved; the system accurately and reliably completes the automatic liquid preparation process of the penicillin bottle, the working mode meets the relevant industrial standards, and excessive manual participation in the traditional liquid preparation process of the penicillin bottle is effectively reduced.

A second aspect of the present invention provides an automatic liquid dispensing method based on an industrial robot, which is based on the automatic liquid dispensing system based on an industrial robot, and comprises the following steps: s100, the PLC control unit acquires liquid preparation parameters based on the type information of the penicillin bottle detected by the sensing unit; step S200, controlling the clamping jaw unit to move to a set position below the solvent bag to insert into the solvent bag and controlling the clamping jaw unit to pull down a syringe piston to obtain liquid by the six-axis manipulator unit based on an instruction sent by the PLC control unit; step S300, the PLC control unit judges whether liquid pumping is finished or not based on the motion information of the clamping jaw unit; when liquid pumping is finished, the six-axis manipulator unit drives the injector to a specified position above the penicillin bottle based on a control instruction of the PLC control unit; the PLC control unit judges whether the injector moves to an appointed position or not based on the movement pose of the six-axis manipulator unit and the pose information of the penicillin bottle arranged on the shaking platform unit; if not, the pose of the six-axis manipulator unit is adjusted until the injector in the clamping jaw unit is positioned at a set position; step S400, the clamping jaw unit completes the action of pricking the needle tip into the penicillin bottle based on the control instruction of the PLC control unit, completes the pressing action of the needle tube piston, and injects a specified amount of solvent into the penicillin bottle; step S500, the six-axis manipulator unit controls and finishes the action of moving the needle tip out of the penicillin bottle; step S600, circularly executing the step 200 to the step S500 to finish the injection operation of the solvent in each penicillin bottle; s700, shaking up the medicine by the shaking up platform unit based on a control instruction of the PLC control unit; and step S800, after the shaking platform unit finishes shaking the medicine, stopping the shaking platform unit, and controlling the six-axis manipulator unit to reinject the liquid medicine for dissolving the powder into the solvent bag through the clamping jaw unit by the PLC control unit so as to finish automatic liquid preparation of the penicillin bottle.

The invention is further described with reference to the following detailed description of embodiments with reference to the accompanying drawings.

Referring to the attached figure 1, the diagram is a frame schematic diagram of a specific embodiment of the automatic liquid distribution system based on the industrial robot, the system comprises a sensing unit, a storage unit, a processing unit, a PLC control unit, a six-axis manipulator unit, a shaking platform unit and a clamping jaw unit, and the sensing unit is in communication connection with the processing unit; the storage unit, the processing unit, the six-axis manipulator unit and the shaking platform unit are all in communication connection with the PLC control unit; the clamping jaw unit is arranged at the end part of the six-axis manipulator unit, and the six-axis manipulator unit extracts liquid in the corresponding liquid bag based on the injector clamped by the clamping jaw unit; the sensing unit is used for detecting the type of the penicillin bottle and transmitting detection information to the processing unit; the processing unit is matched with a preset instruction in the storage unit based on the acquired information, and the PLC control unit issues an instruction whether to start the six-axis manipulator unit for liquid extraction or liquid distribution and an instruction whether to start the shaking platform unit based on the matching information acquired by the processing unit.

Further, referring to fig. 2 to 4, fig. 2 is a schematic perspective view of an embodiment of a shaking platform unit in an industrial robot-based automatic liquid distribution system according to the present invention, fig. 3 is a schematic sectional view of fig. 2, and fig. 4 is a schematic perspective view of an embodiment of a horizontal rotation inner frame of fig. 2; the shaking platform unit comprises a horizontal rotation mechanism 100, a turnover mechanism 200 and a master control device, the horizontal rotation mechanism and the turnover mechanism are in communication connection with the master control device, and a turntable 300 for placing a target object is arranged at the top of the horizontal rotation mechanism; in a horizontal rotation state, the turntable is driven by a horizontal rotation driving device in the horizontal rotation mechanism to turn over in a first plane, and the master control device can control the start or stop of the horizontal rotation driving device based on the detection information of a horizontal rotation limiting device in the horizontal rotation mechanism; the turntable and the horizontal rotation mechanism can be overturned in a second plane under the driving of the overturning driving device; the master control device controls the turning driving device to be turned on or off based on the detection information of the turning limiting device; the second plane is perpendicular to the first plane, and in this embodiment, the first plane is a horizontal plane, and the second plane is a vertical plane.

The horizontal rotation mechanism comprises a horizontal rotation driving device 110 and a transmission device, and the transmission device is arranged at the power output end of the horizontal rotation driving device; the rotary table is fixedly connected with the power output end of the transmission device; a flat rotating motor cover 140 is arranged at the bottom of the rotary table, and a flat rotating driving device is arranged inside the flat rotating motor cover; a horizontal rotation limiting device 130 is further arranged inside the horizontal rotation motor cover, and for the convenience of clear illustration, a horizontal rotation photoelectric switch arranged on the horizontal rotation limiting device is not shown; the horizontal rotation limiting device is in signal connection with the master control device; the turnover mechanism comprises a turnover driving device and a connecting device, one end of the connecting device is fixedly connected with the power output end of the turnover driving device, and the other end of the connecting device is fixedly arranged on the side part of the flat rotating motor cover; the side wall of the turnover driving device is provided with a turnover limiting device 240, and the turnover limiting device is in signal connection with the master control device.

Further, the transmission device includes a horizontal rotation main gear 122 and a horizontal rotation transmission gear 121, the horizontal rotation transmission gear is fixedly disposed at the power output end of the horizontal rotation driving device 110, and the horizontal rotation main gear and the horizontal rotation transmission gear are in external meshing transmission; a guide ring fixing frame 123 is arranged in the horizontal rotation main gear in a penetrating manner, one end of the guide ring fixing frame is fixedly connected with the turntable 300, and the other end of the guide ring fixing frame is arranged in a separated manner from a conductive ring 180 arranged on a horizontal rotation motor cover; a horizontal rotation inner frame 150 is fixedly arranged in the horizontal rotation motor cover and is used for bearing the guide ring fixing frame and the horizontal rotation driving device; the outer side of the guide ring fixing frame is sleeved with a horizontal rotation bearing assembly and a horizontal rotation bearing lock catch 124, and the horizontal rotation bearing assembly is tightly abutted to the horizontal rotation main gear through the horizontal rotation bearing lock catch; one end of the flat-rotating bearing lock catch, which is far away from the flat-rotating bearing assembly, is fixedly connected with the guide ring fixing frame.

When the flat rotation driving device is started, the flat rotation driving device drives the flat rotation main gear to rotate in the horizontal plane through the flat rotation transmission gear, and further drives the flat rotation of the turntable arranged on the flat rotation driving device through the guide ring fixing frame; the conducting ring and the conducting fixing frame are arranged in a separated mode, so that independent and accurate rotation of the horizontal rotation mechanism and the upper end rotary table can be completed; in the invention, the conducting ring is an independent working mechanism, so that the independent operation of the turntable can be completed, and the accurate independent flat rotation of the turntable can be realized through the arrangement of the flat rotation mechanism, and the turntable can rotate continuously without being restricted by the number of rotation turns.

Furthermore, a flat rotation limiting sheet 170 is arranged on the outer side of the guide ring fixing frame; a horizontal rotation limiting device is arranged on the horizontal rotation inner frame; in the process of starting the horizontal rotation driving device, the horizontal rotation limiting sheet turns over along with the guide ring fixing frame, and the horizontal rotation limiting device is fixed.

Preferably, the distance from the outer end of the flat rotation limiting sheet to the longitudinal axis of the flat rotation driving device is greater than the distance from the top of the groove of the flat rotation limiting device to the longitudinal axis of the flat rotation driving device.

Preferably, the distance from the longitudinal axis of the flat rotation limiting piece to the bottom of the turntable is equal to the distance from the longitudinal axis of the groove of the flat rotation limiting device to the bottom of the turntable.

Preferably, the connection means includes a flip connection frame 231 and a flip bearing cap 232; the overturning driving device comprises an overturning motor 210 and an overturning motor base 220; one end of the overturning connecting frame is fixedly connected with the side wall of the flat-rotating motor cover 140, and the other end of the overturning connecting frame is fixedly connected with the overturning bearing cover; one end of the overturning bearing cover is fixedly connected with the power output end of the overturning motor, and the other end of the overturning bearing cover is sleeved outside the overturning connecting frame; the overturning motor base comprises an accommodating part and a connecting part, and the accommodating part is used for installing an overturning motor; the connecting part is fixedly arranged on the outer side of the accommodating part, and the overturning bearing cover and the overturning connecting frame are arranged in the connecting part; the connecting part is respectively connected with the turnover bearing cover in a rotatable manner through a first turnover bearing and a second turnover bearing.

Preferably, the overturning limiting device is fixedly arranged on the outer side of the connecting part; the side wall of the flat rotating motor cover is provided with an overturning limiting piece 250; in the process of starting the turnover driving device, the turnover limiting piece is turned over along with the flat rotating mechanism, and the turnover limiting device is fixed; the distance from the central axis of the turnover limiting piece to the longitudinal axis of the turnover motor is equal to the distance from the central axis of the turnover limiting device to the longitudinal axis of the turnover motor; the distance from the outer end of the overturning limiting piece to the longitudinal axis of the flat-spiral driving device is larger than the distance from the top of the groove of the overturning limiting device to the longitudinal axis of the flat-spiral driving device.

Further, the turntable comprises an accommodating chamber and a fixing assembly, wherein the fixing assembly is arranged in the accommodating chamber to bear and fix the target object; the fixing component comprises one or more fixing parts for fixing one or more objects; in the working process, the master control device starts the horizontal rotation driving device or the overturning driving device based on the horizontal rotation or overturning instruction so as to overturn and change the position of a fixed target object in the turntable or overturn the turntable.

When the turnover motor is started, the turnover motor drives the flat rotation motor cover in the flat rotation mechanism to rotate in a vertical plane through the turnover bearing cover and the turnover connecting frame so as to drive the turntable to realize turnover movement, and the turnover position can be accurately detected through detection of the rotation limiting device, so that accurate turnover movement of the output end mechanism can be realized; through the setting of tilting mechanism, can realize the accurate upset of carousel promptly.

The flat-turn inner frame 150 comprises a first support structure and a second support structure, wherein the first support structure is used for bearing the guide ring fixing frame, and the second support structure is used for bearing the flat-turn transmission gear; the first supporting structure and the second supporting structure form a flat S-shaped structure, the opening of the first supporting structure faces upwards, and the opening of the second supporting structure faces downwards.

Preferably, the flat rotation driving device is a flat rotation servo motor.

Preferably, the flipping motor is a flipping servo motor.

Referring to fig. 5, there is shown a schematic perspective view of an embodiment of a gripper unit in an industrial robot-based automatic liquid dispensing system according to the present invention, the gripper unit including a connecting device 600, a gripper assembly and a driving device; the connecting device is used for connecting with the mechanical arm; the clamping jaw assembly comprises a first clamping jaw assembly and a second clamping jaw assembly, and the first clamping jaw assembly and the second clamping jaw assembly are respectively used for clamping a syringe cap and a syringe tube; the first jaw assembly comprises a first jaw 410, a syringe cap clamp 420 and a lifting slide block connecting plate 430, and the lifting slide block connecting plate is fixedly arranged at the power output end of the servo electric cylinder 500; the first clamping jaw is arranged on the lifting slide block connecting plate; the syringe cap clamp is arranged at one end of the first clamping jaw, which is far away from the lifting slide block connecting plate; the second clamping jaw assembly comprises a second clamping jaw 440, an injector tube body clamp 450 and a clamping jaw connecting plate 460, and the clamping jaw connecting plate is fixedly arranged on the side part of the shell of the servo electric cylinder; the second clamping jaw is arranged on the clamping jaw connecting plate; the syringe tube body is clamped at one end of the second clamping jaw, which is far away from the clamping jaw connecting plate; the driving device is used for controlling the drawing of the syringe; in the working process, the syringe tube body is clamped and fixed through the second clamping jaw assembly, and the first clamping jaw assembly rises under the driving of the driving device to drive the syringe cap to draw and suck the liquid.

It should be noted that, in the present embodiment, the clamping jaw mechanism is suitable for clamping and positioning the syringe 500 and drawing the liquid, the present embodiment does not limit the protection scope of the present invention, the present invention can also be used for clamping and positioning other cylindrical objects, and for understanding, the present embodiment is only described by taking the syringe as an example.

Further, the connecting plate of the lifting slider comprises a first connecting plate 431 and a second connecting plate 432, and the first connecting plate and the second connecting plate form an L-shaped plate-shaped structure; the first connecting plate is provided with a first mounting part connected with the power output end of the servo electric cylinder; the second connecting plate has a second mounting portion connected to the servo electric cylinder.

Preferably, the second connecting plate is disposed parallel to the moving direction of the servo electric cylinder, and the second connecting plate is disposed opposite to the connecting device.

Preferably, the first clamping jaw is fixedly arranged on the outer side of the second connecting plate; the second clamping jaw sets gradually along servo electronic jar's longitudinal axis with first clamping jaw, and in this embodiment, first clamping jaw sets up in the top for lift the syringe cap, carry out the pull imbibition with the control syringe.

Further, the syringe cap clamp comprises a first lifting device 421 and a second lifting device 422, and the first lifting device and the second lifting device are arranged in parallel to form a clamping device for lifting the syringe cap; the first clamping jaw is a first electric clamping jaw, and the first lifting device and the second lifting device can be relatively far away or close to each other under the driving of the first electric clamping jaw so as to loosen or clamp a target object; the first lifting device comprises a first connecting part and a first lifting part, and the first connecting part and the first lifting part form an L-shaped structure; the first connecting part is provided with a third mounting part fixedly connected with the first clamping jaw; the second lifting device comprises a second connecting part and a second lifting part, and the second connecting part and the second lifting part form an L-shaped structure; the second connecting part is provided with a fourth mounting part fixedly connected with the first clamping jaw; the second portion of lifting and the first portion of lifting parallel arrangement, the first portion of lifting and the second portion of lifting distance between be greater than the external diameter of syringe piston rod, and the first portion of lifting and the second portion of lifting distance between be less than the external diameter of syringe cap.

Preferably, the central axis of the first jaw along the longitudinal axis of the drive means is arranged coincident with the central axis of the second jaw along the longitudinal axis of the drive means.

Further, the syringe barrel clamp comprises a first clamping device 451 and a second clamping device 452, which are arranged in parallel for clamping the syringe barrel; the second clamping jaw is a second electric clamping jaw; the first clamping device and the second clamping device can move away from or close to each other relatively under the driving of the second clamping jaw to loosen or clamp the target object; the first clamping device comprises a first clamping connecting part and a first clamping action part, and the first clamping connecting part is provided with a fifth mounting part fixedly connected with the first clamping jaw; the inner side of the first clamping action part is provided with a first arc action surface matched with the syringe tube body; the second clamping device comprises a second clamping connecting part and a second clamping action part, and the second clamping connecting part is provided with a sixth mounting part fixedly connected with the second clamping jaw; a second arc-shaped action surface matched with the syringe tube body is arranged on the inner side of the second clamping action part, and the second arc-shaped action surface is opposite to the first arc-shaped action surface; the first arc-shaped acting surface and the second arc-shaped acting surface are both concave arcs.

Preferably, there are two first clamping action portions, which are arranged one after the other along the longitudinal axis of the drive device, i.e. up and down in this embodiment; two second clamping action parts are arranged, and the two second clamping action parts are sequentially arranged along the longitudinal axis of the driving device; the target object is clamped by the two first clamping action parts and the two second clamping action parts at four points, the four-point clamping device is simple and reliable, and the position precision of the clamped object is high.

Referring to fig. 6, a flow chart of an embodiment of the automatic liquid distribution method based on the industrial robot in the invention is shown, and the method is based on any one of the automatic liquid distribution system based on the industrial robot, and comprises the following steps:

s100, the PLC control unit acquires liquid preparation parameters based on the type information of the penicillin bottle detected by the sensing unit; step S200, controlling the clamping jaw unit to move to a set position below the solvent bag to insert into the solvent bag and controlling the clamping jaw unit to pull down the syringe piston to take liquid based on an instruction sent by the PLC control unit by the six-axis manipulator unit, wherein the set position is preferably right below the solvent bag; step S300, the PLC control unit judges whether liquid pumping is finished or not based on the motion information of the clamping jaw unit; when liquid pumping is finished, the six-axis manipulator unit drives the injector to a specified position above the penicillin bottle based on a control instruction of the PLC control unit; the PLC control unit judges whether the injector moves to an appointed position or not based on the movement pose of the six-axis manipulator unit and the pose information of the penicillin bottle arranged on the shaking platform unit; if not, the pose of the six-axis manipulator unit is adjusted until the injector in the clamping jaw unit is positioned at a set position; step S400, the clamping jaw unit completes the action of pricking the needle tip into the penicillin bottle based on the control instruction of the PLC control unit, completes the pressing action of the needle tube piston, and injects a specified amount of solvent into the penicillin bottle; step S500, the six-axis manipulator unit controls and finishes the action of moving the needle tip out of the penicillin bottle; step S600, circularly executing the step 200 to the step S500 to finish the injection operation of the solvent in each penicillin bottle; s700, shaking up the medicine by the shaking up platform unit based on a control instruction of the PLC control unit; and step S800, after the shaking platform unit finishes shaking the medicine, stopping the shaking platform unit, and controlling the six-axis manipulator unit to reinject the liquid medicine for dissolving the powder into the solvent bag through the clamping jaw unit by the PLC control unit so as to finish automatic liquid preparation of the penicillin bottle.

Further, the invention also comprises a liquid injection method for the penicillin bottle, which comprises the following specific steps: 1) checking whether the medicine is placed or not, and starting to click a liquid preparation starting button on a PC screen in a PLC control unit; 2) two clamping jaw assemblies in a clamping jaw unit at the tail end of the mechanical arm clamp the needle tube; 3) the clamping jaw unit rotates 180 degrees, the needle head faces upwards, then the clamping jaw unit moves to the bottom of the infusion bag, and the needle head is pricked into the infusion bag to extract a fixed amount of solution; 4) after the needle head is pulled out, the mechanical arm (namely the six-axis mechanical arm unit) is moved to a weighing position to put down the needle tube, whether the weight of the liquid in the needle tube is in a qualified range or not is measured, and if the weight of the liquid is not in the qualified range, the liquid returns to the infusion bag to extract the solution again until the weight of the liquid is qualified; 5) the mechanical arm picks up the needle tube (i.e. the injector), and then moves to the position above the first penicillin bottle on the turntable in the shaking platform unit, and the needle head faces downwards; 6) pricking a needle tube into a first penicillin bottle, and adding a set solution; 7) after the liquid is injected, the needle tube sucks air in the bottle again (preventing the liquid medicine from being sprayed out instantly when the needle head is pulled out), the needle head is pulled out and rotated 180 degrees simultaneously to enable the needle head to face upwards, and air which is just extracted from the bottle is pushed out; 8) during the action of pushing air out by the needle tube in the previous step, synchronously rotating the turntable to move the next penicillin bottle to the bottom of the needle tube; 9) rotating the needle head by 180 degrees, punching down and pricking into a penicillin bottle, and adding a quantitative solution; 10) repeating the steps 7, 8 and 9 until the injection of the last penicillin bottle is completed; 11) the mechanical arm is far away from the turntable, each joint returns to the initial position, and meanwhile, the needle tube can suck partial air in advance to prepare for the subsequent liquid medicine drawing step.

The invention also comprises a method for fully dissolving the penicillin bottle powder, which comprises the following specific steps: 1) shaking up the liquid medicine automatically; 2) the vertical turnover motor swings and rocks back and forth between 65 degrees and 115 degrees (the swinging times can be set according to the difficulty of dissolving the medicines in the penicillin bottles), and the horizontal turntable motor also automatically transmits while the vertical motor swings, so that the liquid medicine in each penicillin bottle can be fully and uniformly shaken; 3) after the swing action is completed, the vertical motor rotates to a position of 180 degrees, so that the turntable is horizontally downward, and meanwhile, the lifting module integrally lifts the turntable to a position higher than the turntable to prepare for liquid pumping of the mechanical arm.

The invention also comprises a method for extracting the liquid medicine from the penicillin bottle, which comprises the following specific steps: 1) the horizontal turntable resets to the original point, and the mechanical arm on the other side starts to move to horizontally punch the needle head into the penicillin bottle aligned to the hole position I; 2) after the liquid medicine in the bottle is stable, the mechanical arm drives the needle head to upwards prick into the penicillin bottle to start to extract the liquid medicine, negative pressure is generated inside the bottle body when the needle tube extracts the liquid medicine, and the liquid medicine is prevented from being completely extracted, so that the needle tube pushes partial air after extracting a part of the liquid medicine and then extracts the liquid medicine, and the action needs to be repeated for three times to completely absorb all the liquid medicine in the bottle; 3) after the liquid extraction of the current medicine bottle is finished, the mechanical arm pulls out the needle head, the horizontal turntable rotates to the next medicine bottle, and the liquid medicine of the next bottle starts to be extracted (the extraction mode is the same as that in the step 2); 4) repeating the step 3 until the liquid medicines of all the penicillin bottles on the turntable are extracted; 5) after the last liquid medicine bottle is extracted, the mechanical arm moves to the weighing position again to put down the needle tube, whether the weight of the liquid in the needle tube is within the qualified range is measured, if the weight of the liquid in the needle tube is not within the qualified range, the mechanical arm returns to the lower part of the turntable to extract the liquid medicines of all the penicillin bottles again until the liquid medicines are weighed to be qualified; 6) if the weighing is qualified, the mechanical arm drives the needle tube to move to the position of the infusion bag, all the liquid medicine just sucked is injected into the liquid bag, each joint returns to the initial position again, and the two electric cylinder clamping jaws are opened; 7) this is done in synchronism with the action of step 6. Lifting module can drop the carousel whole to the bottom after the arm leaves this moment, then opens the medicine bottle clamping jaw, and in throwing into the recovery case with empty medicine bottle, the perpendicular motor that resets again makes horizontal carousel just up.

Referring to fig. 7, a schematic diagram of a coordinate system of another industrial robot-based automatic liquid dispensing method of the present invention is shown; the invention also comprises a correction method for adapting the mechanical arm to the new pose of the penicillin bottle, which comprises the following specific steps: 1) establishing a coordinate system T on a desired vial cap₁Coordinate system T₁The three-dimensional coordinate plane (xoy) is a plane where the bottle cap is located, the origin of a coordinate system is located at the center of the bottle cap, and the z axis is along the central axis of the penicillin bottle and points to the bottom of the penicillin bottle; along a coordinate system T₁Is extended in the opposite direction of the z-axis by an extension distance l₁Constructing a coordinate system T as shown in the figure₂(ii) a To complete the needle tip penetration motion, the robotic arm first moves to coordinate system T₂And ensure the orientation of the needle tip and the coordinate system T₂The z-axes of the two are consistent; then, carrying out translational motion along the z axis so as to finish the action of pricking the needle point; 2) obtaining the actual pose of the penicillin bottle based on the vision module, and setting the coordinate system constructed on the corresponding bottle cap as T₁ ^ΛBased on T₁ ^ΛCalculating to obtain a corresponding coordinate system T of the interpolation transition point₂ ^ΛWherein, in the step (A),

in the above formula, T₂ ^ΛT in FIG. 7 for the pose of the interpolation point obtained from the actual collected data₂An ideal interpolation point pose is obtained for teaching; 3) in the motion process of inserting the needle point, the mechanical arm firstly moves to a coordinate system T₂To ensure the needle point to face towards T₂Z-axis direction, tip and coordinate system T₂The original points of the two are overlapped; reading the current rotation angle of each shaft, and setting the rotation angles as follows:

(J_{1_start} J_{2_start} J_{3_start} J_{4_start} J_{5_start} J_{6_start})；

4) at T₂ ^ΛBased on the reverse kinematics of the mechanical arm₂ ^ΛThe rotation angles of the corresponding six axes are set as follows: (J)_{1_end} J_{2_end} J_{3_end} J_{4_end} J_{5_end} J_{6_end}) (ii) a In general, there will be multiple sets of solutions; selecting and (J)_{1_start} J_{2_start}J_{3_start} J_{4_start} J_{5_start} J_{6_start}) A group of solutions which are closest to each other and control the mechanical arm to move to a corner configuration; 5) controlling the mechanical arm to move forward by a distance l along the direction of the needle point₁The needle tip can be controlled to be opposite to the bottle cap of the penicillin bottle in a vertical posture; on the basis, the pricking action is directly controlled.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims

1. An automatic liquid distribution system based on an industrial robot is characterized by comprising a sensing unit, a storage unit, a processing unit, a PLC (programmable logic controller) control unit, a six-axis manipulator unit, a shaking platform unit and a clamping jaw unit, wherein the sensing unit is in communication connection with the processing unit; the storage unit, the processing unit, the six-axis manipulator unit and the shaking platform unit are all in communication connection with the PLC control unit; the clamping jaw unit is arranged at the end part of the six-axis manipulator unit, and the six-axis manipulator unit extracts liquid in the corresponding liquid bag based on the injector clamped by the clamping jaw unit;

the shaking platform unit comprises a horizontal rotation mechanism, a turnover mechanism and a master control device, and the horizontal rotation mechanism and the turnover mechanism are in communication connection with the master control device; the horizontal rotation mechanism comprises a horizontal rotation driving device, a transmission device and a rotary table, and the transmission device is arranged at the power output end of the horizontal rotation driving device; the rotary table is fixedly connected with the power output end of the transmission device; a flat rotating motor cover is arranged at the bottom of the rotary table, and the flat rotating driving device is arranged inside the flat rotating motor cover; a horizontal rotation limiting device is further arranged inside the horizontal rotation motor cover and is in signal connection with the master control device; the transmission device comprises a horizontal rotation main gear and a horizontal rotation transmission gear, the horizontal rotation transmission gear is fixedly arranged at the power output end of the horizontal rotation driving device, and the horizontal rotation main gear is in meshing transmission with the horizontal rotation transmission gear; a guide ring fixing frame is arranged in the flat rotating main gear in a penetrating manner, one end of the guide ring fixing frame is fixedly connected with the turntable, and the other end of the guide ring fixing frame is arranged in a separated manner from a conducting ring arranged on the flat rotating motor cover; a horizontal rotation inner frame is fixedly arranged in the horizontal rotation motor cover and comprises a first supporting structure and a second supporting structure, the first supporting structure is used for bearing the guide ring fixing frame, and the second supporting structure is used for bearing the horizontal rotation transmission gear; the first support structure and the second support structure form a flat S-shaped structure, the opening of the first support structure is upward, and the opening of the second support structure is downward; in a flat rotation state, the turntable is driven by the flat rotation driving device to turn over in a first plane; the master control device controls the switch of the horizontal rotation driving device based on the detection information of the horizontal rotation limiting device;

the turnover mechanism comprises a turnover driving device and a connecting device, one end of the connecting device is fixedly connected with the power output end of the turnover driving device, and the other end of the connecting device is fixedly arranged on the side part of the flat-rotating motor cover; the connecting device comprises a turnover connecting frame and a turnover bearing cover; the overturning driving device comprises an overturning motor and an overturning motor seat; one end of the overturning connecting frame is fixedly connected with the side wall of the flat rotating motor cover, and the other end of the overturning connecting frame is fixedly connected with the overturning bearing cover; one end of the turnover bearing cover is fixedly connected with the power output end of the turnover motor, and the other end of the turnover bearing cover is sleeved outside the turnover connecting frame; the turnover motor base comprises an accommodating part and a connecting part, and the accommodating part is used for installing the turnover motor; the connecting part is fixedly arranged on the outer side of the accommodating part, and the overturning bearing cover and the overturning connecting frame are arranged in the connecting part; the connecting part is rotatably connected with the turnover bearing cover through a first turnover bearing and a second turnover bearing respectively;

the side wall of the overturning driving device is provided with an overturning limiting device, and the overturning limiting device is in signal connection with the master control device; the overturning limiting device is fixedly arranged on the outer side of the connecting part; the side wall of the flat rotating motor cover is provided with an overturning limiting piece; in the process of starting the turnover driving device, the turnover limiting piece is turned over along with the flat rotation mechanism, and the turnover limiting device is fixed; the distance from the central axis of the turnover limiting piece to the longitudinal axis of the turnover motor is equal to the distance from the central axis of the turnover limiting device to the longitudinal axis of the turnover motor; the distance from the outer end of the overturning limiting piece to the longitudinal axis of the flat rotation driving device is greater than the distance from the top of the groove of the overturning limiting device to the longitudinal axis of the flat rotation driving device; in a turning state, the flat rotating mechanism is driven by the turning driving device to turn in a second plane; the master control device controls the turning driving device to be turned on or off based on the detection information of the turning limiting device; the second plane is perpendicular to the first plane;

2. The industrial robot-based automatic liquid distribution system according to claim 1, wherein a horizontal rotation bearing assembly and a horizontal rotation bearing lock catch are sleeved on the outer side of the guide ring fixing frame, and the horizontal rotation bearing assembly is arranged to abut against the horizontal rotation main gear through the horizontal rotation bearing lock catch;

3. The industrial robot-based automatic liquid dispensing system according to claim 1, wherein the gripper unit comprises a connecting means, a gripper assembly and a driving means; the connecting device is used for being fixedly connected with the six-axis manipulator unit;

4. The industrial robot-based automatic fluid distribution system of claim 3, wherein the lift block attachment plate comprises a first attachment plate and a second attachment plate, the first attachment plate and the second attachment plate forming an L-shaped plate-like structure; the first connecting plate is provided with a first mounting part connected with a power output end of the driving device; the second connecting plate is provided with a second mounting part connected with the driving device.

5. The industrial robot-based automatic fluid dispensing system of claim 3, wherein the syringe cap gripper comprises a first lifting device and a second lifting device, the first lifting device and the second lifting device being arranged in parallel to form a gripping device for lifting a syringe cap; the first clamping jaw is a first electric clamping jaw; the first lifting device and the second lifting device can move away from or close to each other relatively under the driving of the first electric clamping jaw so as to loosen or clamp the target object;

6. The industrial robot-based automatic fluid dispensing system of claim 3, wherein the syringe barrel gripper comprises a first gripping device and a second gripping device, the first gripping device being arranged in parallel with the second gripping device for gripping a syringe barrel; the second clamping jaw is a second electric clamping jaw; the first clamping device and the second clamping device can move away from or close to each other relatively under the driving of the second clamping jaw to loosen or clamp the target object;

7. An automatic liquid distribution method based on an industrial robot, which is characterized in that the method is based on the automatic liquid distribution system based on the industrial robot of any one of claims 1-6, and comprises the following steps: